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updated docker example

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matlabbe
2023-04-23 21:12:13 -07:00
parent 1d01511a05
commit ae67b249e5
1 changed files with 5 additions and 8 deletions
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docker/README.md
+5 -8
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@@ -14,14 +14,14 @@
```bash
docker run -it --rm \
--user $UID \
-e ROS_HOME=/tmp \
-e ROS_HOME=/tmp/.ros \
--network host \
-v ~/.ros:/tmp \
-v ~/.ros:/tmp/.ros \
introlab3it/rtabmap_ros:noetic-latest \
roslaunch --wait rtabmap_launch rtabmap.launch rtabmap_viz:=false database_path:=/tmp/rtabmap.db rtabmap_args:="--delete_db_on_start"
roslaunch rtabmap_launch rtabmap.launch rtabmap_viz:=false database_path:=/tmp/.ros/rtabmap.db rtabmap_args:="--delete_db_on_start"
```
* Launch `rtabmap` from inside the container (**with gui**), saving the database on host `~/.ros/rtabmap.db`, using [nvidia-docker2 approach](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2):
* Launch `rtabmap_viz` from inside the container, using [nvidia-docker2 approach](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2):
```bash
# those following 3 lines would need to be done only one time
@@ -31,8 +31,6 @@
docker run -it --rm \
--privileged \
--user $UID \
-e ROS_HOME=/tmp \
-e DISPLAY=$DISPLAY \
-e QT_X11_NO_MITSHM=1 \
-e NVIDIA_VISIBLE_DEVICES=all \
@@ -42,7 +40,6 @@
--network host \
-v $XAUTH:$XAUTH \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v ~/.ros:/tmp \
introlab3it/rtabmap_ros:noetic-latest \
roslaunch --wait rtabmap_launch rtabmap.launch database_path:=/tmp/rtabmap.db gui_cfg:=/tmp/rtabmap_gui.ini rtabmap_args:="--delete_db_on_start"
/bin/bash -c "export ROS_NAMESPACE=rtabmap && rosrun rtabmap_viz rtabmap_viz"
```